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Happened on my way to airport for 2 week business trip. Warning came on while doing 55 on NJ Turnpike and car started shuddering a little bit. Was able to drive to the airport parking. Am going to dealership in 2 weeks when I return. Feels like the problem is with the front wheel's drivetrain. Shutting down and restarting did not clear up the problem. Stay tuned sports fans... My dealership already set up a loaner and will be alerting Dinan on Monday. I really do like my dealer's responsiveness and customer support. My folks there responded to emails on a Sunday.